Abstract The in-pipe inspection robotic system is crucial in examining the inside of a pipe without compromising its structural safety. The in-pipe inspection robotic system is a promising alternative to conventional methods of x-ray inspection and visual inspection. Despite the ongoing investigation, the effectiveness of the in-pipe inspection robotic system, particularly regarding the mathematical modeling of the system design, still needs to be improved. The in-pipe inspection robot which is normally equipped with a camera or non-destructive testing (NDT) equipment moves inside the pipeline to conduct a pipe integrity assessment. The main problem during an inspection is the restricted maneuverability of the robot due to geometric changes in the pipe. This can be overcome by designing a proper mathematical model to develop an effective inspection robotic system. Therefore, this paper provides a systematic review of different modeling types of the in-pipe inspection robotic systems, including the assessment of the kinematic and dynamic mathematical models for the system. This review paper covers in-pipe inspection robotic systems with several driving mechanisms such as fluid-driven, wheeled mobile drive (WMD), screw or helical drive, legged and biomimetic drives.

中文翻译：

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管道内检测机器人的建模：综合回顾

摘要 管道内检测机器人系统对于在不影响管道结构安全的情况下检测管道内部至关重要。管道内检测机器人系统是传统 X 射线检测和目视检测方法的有前途的替代方案。尽管正在进行调查，管道内检测机器人系统的有效性，特别是在系统设计的数学建模方面，仍然需要改进。通常配备有摄像头或无损检测（NDT）设备的管道内检测机器人在管道内部移动以进行管道完整性评估。检查期间的主要问题是由于管道的几何变化而限制了机器人的机动性。这可以通过设计适当的数学模型来开发有效的检测机器人系统来克服。因此，本文对管道内检测机器人系统的不同建模类型进行了系统回顾，包括对系统运动学和动态数学模型的评估。这篇评论论文涵盖了具有多种驱动机制的管道内检测机器人系统，例如流体驱动、轮式移动驱动 (WMD)、螺杆或螺旋驱动、腿式和仿生驱动。